mr-j3-_a servo amplifier instruction manual

SH (NA) 030038-L (1406) MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses recycled paper.

MODEL

MODELCODE

J3 Series

MR

-J3- A S

ervo A

mp

lifier Instru

ction

Man

ual

L

General-Purpose AC Servo

MODEL

MR-J3- ASERVO AMPLIFIERINSTRUCTION MANUAL

General-Purpose Interface

J3 Series

L

1CW203

MR-J3-A INSTRUCTIONMANUAL

HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310

A - 1

Safety Instructions (Always read these instructions before using the equipment.)

Do not attempt to install, operate, maintain or inspect the converter unit, servo amplifier (drive unit) and servo motor until you have read through this Instruction Manual, Installation guide, Servo motor Instruction Manual (Vol.2) and appended documents carefully and can use the equipment correctly. Do not use the converter unit, servo amplifier (drive unit) and servo motor until you have a full knowledge of the equipment, safety information and instructions. In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

WARNING Indicates that incorrect handling may cause hazardous conditions,

resulting in death or severe injury.

CAUTION Indicates that incorrect handling may cause hazardous conditions,

resulting in medium or slight injury to personnel or may cause physical damage.

Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the instructions of both levels because they are important to personnel safety. What must not be done and what must be done are indicated by the following diagrammatic symbols.

: Indicates what must not be done. For example, "No Fire" is indicated by .

: Indicates what must be done. For example, grounding is indicated by .

In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into "POINT". After reading this installation guide, always keep it accessible to the operator.

A - 2

1. To prevent electric shock, note the following

WARNING Before wiring or inspection, turn off the power and wait for 15 minutes or more (20 minutes or for drive unit 30kW or more) until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) (L and L for drive unit 30kW or more) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier (converter unit), whether the charge lamp is off or not. Connect the converter unit, servo amplifier (drive unit) and servo motor to ground. Any person who is involved in wiring and inspection should be fully competent to do the work. Do not attempt to wire the converter unit, servo amplifier (drive unit) and servo motor until they have been installed. Otherwise, you may get an electric shock. Operate the switches with dry hand to prevent an electric shock. The cables should not be damaged, stressed, loaded, or pinched. Otherwise, you may get an electric shock. During power-on or operation, do not open the front cover. You may get an electric shock. Do not operate the converter unit and servo amplifier (drive unit) with the front cover removed. High-voltage terminals and charging area are exposed and you may get an electric shock. Except for wiring or periodic inspection, do not remove the front cover even if the power is off. The servo amplifier (drive unit) is charged and you may get an electric shock.

2. To prevent fire, note the following

CAUTION Install the converter unit, servo amplifier (drive unit), servo motor and regenerative resistor on incombustible material. Installing them directly or close to combustibles will lead to a fire. Always connect a magnetic contactor between the main circuit power supply and L1, L2, and L3 of the converter unit, servo amplifier (drive unit), and configure the wiring to be able to shut down the power supply on the side of the converter unit, servo amplifier (drive unit) power supply. If a magnetic contactor is not connected, continuous flow of a large current may cause a fire when the converter unit, servo amplifier (drive unit) malfunctions. When a regenerative resistor is used, use an alarm signal to switch main power off. Otherwise, a regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire. Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the converter unit, servo amplifier (drive unit), and servo motor. Always connect a no-fuse breaker to the power supply of the servo amplifier (converter unit).

A - 3

3. To prevent injury, note the follow

CAUTION Only the voltage specified in the Instruction Manual should be applied to each terminal, Otherwise, a burst, damage, etc. may occur. Connect the terminals correctly to prevent a burst, damage, etc. Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur. Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with the converter unit and servo amplifier (drive unit) heat sink, regenerative resistor, servo motor, etc. since they may be hot while power is on or for some time after power-off. Their temperatures may be high and you may get burnt or a parts may damaged. During operation, never touch the rotating parts of the servo motor. Doing so can cause injury.

4. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock, etc. (1) Transportation and installation

CAUTION Transport the products correctly according to their mass. Stacking in excess of the specified number of products is not allowed. Do not carry the servo motor by the cables, shaft or encoder. Do not hold the front cover to transport the converter unit and servo amplifier (drive unit). The converter unit and servo amplifier (drive unit) may drop. Install the converter unit and servo amplifier (drive unit) in a load-bearing place in accordance with the Instruction Manual. Do not climb or stand on servo equipment. Do not put heavy objects on equipment. The converter unit, servo amplifier (drive unit), and servo motor must be installed in the specified direction. Leave specified clearances between the converter unit, servo amplifier (drive unit), and control enclosure walls or other equipment. Do not install or operate the converter unit, servo amplifier (drive unit), and servo motor which has been damaged or has any parts missing. Do not block the intake and exhaust areas of the converter unit, servo amplifier (drive unit) and servo motor which has a cooling fan. Doing so may cause faults. Do not drop or strike converter unit, servo amplifier (drive unit), or servo motor. Isolate from all impact loads. Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during operation. The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage. Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo motor during operation. Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder may become faulty. Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break.

A - 4

CAUTION When you keep or use it, please fulfill the following environmental conditions.

Item Environmental conditions

Converter unit servo amplifier (drive unit) Servo motor

Ambient temperature

In operation

[ ] 0 to 55 (non-freezing) 0 to 40 (non-freezing) [ ] 32 to 131 (non-freezing) 32 to 104 (non-freezing)

In storage [ ] 20 to 65 (non-freezing) 15 to 70 (non-freezing)

[ ] 4 to 149 (non-freezing) 5 to 158 (non-freezing) Ambient

humidity In operation 90%RH or less (non-condensing) 80%RH or less (non-condensing)

In storage 90%RH or less (non-condensing) Ambience Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt Altitude Max. 1000m (3280 ft) above sea level

(Note) Vibration

[m/s2] 5.9 or less at 10 to 55Hz (directions of X, Y and Z axes)

HF-MP series HF-KP series X, Y: 49 m/s2

HF-SP51 81 HF-SP52 to 152 HF-SP524 to 1524 HC-RP Series

HC-UP72 152 HF-JP Series X, Y: 24.5 m/s2

HF-SP121 201 HF-SP202 352 HF-SP2024 3524 HC-UP202 to 502

X: 24.5 m/s2 Y: 49 m/s2

HF-SP301 421 HF-SP502 702 HF-SP5024 7024

X: 24.5 m/s2 Y: 29.4 m/s2

HC-LP52 to 152 X: 9.8 m/s2 Y: 24.5 m/s2 HC-LP202 to 302 X: 19.6 m/s2 Y: 49 m/s2

HA-LP601 to 12K1 HA-LP701M to 15K1M HA-LP502 to 22K2 HA-LP6014 12K14

HA-LP701M4 15K1M4 HA-LP11K24 to 22K24 X: 11.7 m/s2 Y: 29.4 m/s2

HA-LP15K1 to 37K1 HA-LP22K1M to 37K1M HA-LP30K2 37K2 HA-LP15K14 to 37K14

HA-LP22K1M4 to 50K1M4 HA-LP30K24 to 55K24 X, Y: 9.8 m/s2

Note. Except the servo motor with reduction gear.

When the equipment has been stored for an extended period of time, contact your local sales office.

(2) Wiring

CAUTION Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly. Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF-(H) option) between the servo motor and servo amplifier (drive unit). Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier (drive unit) and servo motor. Not doing so may cause unexpected operation. Connect the servo motor power terminal (U, V, W) to the servo motor power input terminal (U, V, W) directly. Do not let a magnetic contactor, etc. intervene.

U

Servo motor

MV

W

U

V

W

Servo amplifier(drive unit)

U

MV

W

U

V

W

Servo motorServo amplifier

(drive unit)

Do not connect AC power directly to the servo motor. Otherwise, a fault may occur.

A - 5

CAUTION The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction. Otherwise, the emergency stop and other protective circuits may not operate.

DOCOM

Control output signal

DICOM

24VDC


RA

For sink output interface

DOCOM

Control output signal

DICOM

24VDC


RA

For source output interface

When the cable is not tightened enough to the terminal block (connector), the cable or terminal block (connector) may generate heat because of the poor contact. Be sure to tighten the cable with specified torque.

(3) Test run adjustment

CAUTION Before operation, check the parameter settings. Improper settings may cause some machines to perform unexpected operation. The parameter settings must not be changed excessively. Operation will be insatiable.

(4) Usage

CAUTION Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately. Any person who is involved in disassembly and repair should be fully competent to do the work. Before resetting an alarm, make sure that the run signal of the servo amplifier (drive unit) is off to prevent an accident. A sudden restart is made if an alarm is reset with the run signal on. Do not modify the equipment. Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be caused by electronic equipment used near the converter unit and servo amplifier (drive unit). Burning or breaking a converter unit and servo amplifier (drive unit) may cause a toxic gas. Do not burn or break a converter unit and servo amplifier (drive unit). Use the converter unit and servo amplifier (drive unit) with the specified servo motor. The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking. For such reasons as service life and mechanical structure (e.g. where a ball screw and the servo motor are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety, install a stopper on the machine side.

A - 6

(5) Corrective actions

CAUTION When it is assumed that a hazardous condition may take place at the occur due to a power failure or a product fault, use a servo motor with an electromagnetic brake or an external brake mechanism for the purpose of prevention. Configure an electromagnetic brake circuit so that it is activated also by an external emergency stop switch.

B U

SON RA

Contacts must be opened by an emergency stop switch.

Contacts must be opened by servo-on (SON) OFF, trouble (ALM) and electromagnetic brake interlock (MBR).

24VDC

Servo motor

Electromagnetic brake

When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation. When power is restored after an instantaneous power failure, keep away from the machine because the machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted).

(6) Maintenance, inspection and parts replacement

CAUTION With age, the electrolytic capacitor of the converter unit and servo amplifier (drive unit) will deteriorate. To prevent a secondary accident due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general environment. Please contact your local sales office.

(7) General instruction

To illustrate details, the equipment in the diagrams of this Specifications and Instruction Manual may have been drawn without covers and safety guards. When the equipment is operated, the covers and safety guards must be installed as specified. Operation must be performed in accordance with this Specifications and Instruction Manual.

A - 7

DISPOSAL OF WASTE Please dispose a converter unit, servo amplifier (drive unit), battery (primary battery) and other options according to your local laws and regulations.

EEP-ROM life

The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the total number of the following operations exceeds 100,000, the converter unit, servo amplifier (drive unit) and/or converter unit may fail when the EEP-ROM reaches the end of its useful life.

Write to the EEP-ROM due to parameter setting changes Home position setting in the absolute position detection system Write to the EEP-ROM due to device changes

Precautions for Choosing the Products

Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi; machine damage or lost profits caused by faults in the Mitsubishi products; damage, secondary damage, accident compensation caused by special factors unpredictable by Mitsubishi; damages to products other than Mitsubishi products; and to other duties.

COMPLIANCE WITH THE EUROPEAN EC DIRECTIVES Refer to Appendix 9 for the compliance with EC Directives.

COMPLIANCE WITH UL/C-UL STANDARD Refer to Appendix 10 for the compliance with UL/C-UL standard.

This Instruction Manual and the MELSERVO Servo Motor Instruction Manual (Vol.2) are required if you use the General-Purpose AC servo MR-J3-A for the first time.

Relevant manuals

Manual name Manual No.

MELSERVO-J3 Series Instructions and Cautions for Safe Use of AC Servos (Enclosed in converter unit and servo amplifier (drive unit).)

IB(NA)0300077

MELSERVO Servo Motor Instruction Manual (Vol.2) SH(NA)030041 EMC Installation Guidelines IB(NA)67310

Details of MR-J3-CR55K(4) and MR-J3-DU30KA(4) to MR-J3-DU55KA4 are described in chapter 13 of this instruction manual. For the products of 30kW or more, refer to chapter 15.

Wires mentioned in this instruction manual are selected based on the ambient temperature of 40 (104 ).

A - 8

MEMO

1

CONTENTS

1. FUNCTIONS AND CONFIGURATION 1 - 1 to 1 -30

1.1 Summary .................................................................................................................................................. 1 - 1 1.2 Function block diagram ............................................................................................................................ 1 - 2 1.3 Servo amplifier standard specifications ................................................................................................... 1 - 5 1.4 Function list .............................................................................................................................................. 1 - 7 1.5 Model code definition ............................................................................................................................... 1 - 9 1.6 Combination with servo motor ................................................................................................................ 1 -10 1.7 Structure .................................................................................................................................................. 1 -12

1.7.1 Parts identification ............................................................................................................................ 1 -12 1.7.2 Removal and reinstallation of the front cover .................................................................................. 1 -19

1.8 Configuration including auxiliary equipment .......................................................................................... 1 -22

2. INSTALLATION 2 - 1 to 2 - 6

2.1 Installation direction and clearances ....................................................................................................... 2 - 2 2.2 Keep out foreign materials ....................................................................................................................... 2 - 4 2.3 Cable stress ............................................................................................................................................. 2 - 5 2.4 Inspection items ....................................................................................................................................... 2 - 5 2.5 Parts having service lives ........................................................................................................................ 2 - 6

3. SIGNALS AND WIRING 3 - 1 to 3 -78

3.1 Input power supply circuit ........................................................................................................................ 3 - 2 3.2 I/O signal connection example ............................................................................................................... 3 -10

3.2.1 Position control mode ....................................................................................................................... 3 -10 3.2.2 Speed control mode ......................................................................................................................... 3 -12 3.2.3 Torque control mode ........................................................................................................................ 3 -14

3.3 Explanation of power supply system ...................................................................................................... 3 -16 3.3.1 Signal explanations .......................................................................................................................... 3 -16 3.3.2 Power-on sequence ......................................................................................................................... 3 -17 3.3.3 CNP1, CNP2, CNP3 wiring method ................................................................................................ 3 -19

3.4 Connectors and signal arrangements .................................................................................................... 3 -27 3.5 Signal explanations ................................................................................................................................. 3 -30 3.6 Detailed description of the signals .......................................................................................................... 3 -40

3.6.1 Position control mode ....................................................................................................................... 3 -40 3.6.2 Speed control mode ......................................................................................................................... 3 -44 3.6.3 Torque control mode ........................................................................................................................ 3 -46 3.6.4 Position/speed control change mode .............................................................................................. 3 -49 3.6.5 Speed/torque control change mode ................................................................................................ 3 -51 3.6.6 Torque/position control change mode ............................................................................................. 3 -53

3.7 Alarm occurrence timing chart ................................................................................................................ 3 -54 3.8 Interfaces ................................................................................................................................................. 3 -55

3.8.1 Internal connection diagram ............................................................................................................ 3 -55 3.8.2 Detailed description of interfaces ..................................................................................................... 3 -56 3.8.3 Source I/O interfaces ....................................................................................................................... 3 -60

3.9 Treatment of cable shield external conductor ........................................................................................ 3 -61

2

3.10 Connection of servo amplifier and servo motor ................................................................................... 3 -62 3.10.1 Connection instructions .................................................................................................................. 3 -62 3.10.2 Power supply cable wiring diagrams ............................................................................................. 3 -63

3.11 Servo motor with an electromagnetic brake ......................................................................................... 3 -73 3.11.1 Safety precautions ......................................................................................................................... 3 -73 3.11.2 Setting ............................................................................................................................................. 3 -73 3.11.3 Timing charts .................................................................................................................................. 3 -74 3.11.4 Wiring diagrams (HF-MP series HF-KP series servo motor)...................................................... 3 -76

3.12 Grounding .............................................................................................................................................. 3 -78

4. STARTUP 4 - 1 to 4 -18

4.1 Switching power on for the first time ....................................................................................................... 4 - 1 4.1.1 Startup procedure .............................................................................................................................. 4 - 1 4.1.2 Wiring check ...................................................................................................................................... 4 - 2 4.1.3 Surrounding environment .................................................................................................................. 4 - 3

4.2 Startup in position control mode .............................................................................................................. 4 - 4 4.2.1 Power on and off procedures ............................................................................................................ 4 - 4 4.2.2 Stop .................................................................................................................................................... 4 - 4 4.2.3 Test operation.................................................................................................................................... 4 - 5 4.2.4 Parameter setting .............................................................................................................................. 4 - 6 4.2.5 Actual operation ................................................................................................................................ 4 - 7 4.2.6 Trouble at start-up ............................................................................................................................. 4 - 7

4.3 Startup in speed control mode ................................................................................................................. 4 - 9 4.3.1 Power on and off procedures ............................................................................................................ 4 - 9 4.3.2 Stop ................................................................................................................................................... 4 -10 4.3.3 Test operation................................................................................................................................... 4 -11 4.3.4 Parameter setting ............................................................................................................................. 4 -12 4.3.5 Actual operation ............................................................................................................................... 4 -13 4.3.6 Trouble at start-up ............................................................................................................................ 4 -13

4.4 Startup in torque control mode ............................................................................................................... 4 -14 4.4.1 Power on and off procedures ........................................................................................................... 4 -14 4.4.2 Stop ................................................................................................................................................... 4 -15 4.4.3 Test operation .................................................................................................................................. 4 -16 4.4.4 Parameter setting ............................................................................................................................. 4 -17 4.4.5 Actual operation ............................................................................................................................... 4 -18 4.4.6 Trouble at start-up ............................................................................................................................ 4 -18

5. PARAMETERS 5 - 1 to 5 -54

5.1 Basic setting parameters (No.PA ) ................................................................................................... 5 - 1 5.1.1 Parameter list .................................................................................................................................... 5 - 1 5.1.2 Parameter write inhibit ...................................................................................................................... 5 - 2 5.1.3 Selection of control mode ................................................................................................................. 5 - 3 5.1.4 Selection of regenerative option ....................................................................................................... 5 - 5 5.1.5 Using absolute position detection system ........................................................................................ 5 - 6 5.1.6 Using electromagnetic brake interlock (MBR) .................................................................................. 5 - 6 5.1.7 Number of command input pulses per servo motor revolution ........................................................ 5 - 7 5.1.8 Electronic gear................................................................................................................................... 5 - 8

3

5.1.9 Auto tuning ....................................................................................................................................... 5 -12 5.1.10 In-position range ............................................................................................................................ 5 -13 5.1.11 Torque limit ..................................................................................................................................... 5 -14 5.1.12 Selection of command pulse input form ........................................................................................ 5 -15 5.1.13 Selection of servo motor rotation direction .................................................................................... 5 -16 5.1.14 Encoder output pulse ..................................................................................................................... 5 -16

5.2 Gain/filter parameters (No.PB ) ........................................................................................................ 5 -18 5.2.1 Parameter list ................................................................................................................................... 5 -18 5.2.2 Detail list ........................................................................................................................................... 5 -20 5.2.3 Position smoothing ........................................................................................................................... 5 -29

5.3 Extension setting parameters (No.PC ) ........................................................................................... 5 -30 5.3.1 Parameter list ................................................................................................................................... 5 -30 5.3.2 List of details ..................................................................................................................................... 5 -31 5.3.3 Analog monitor ................................................................................................................................. 5 -41 5.3.4 Alarm history clear ............................................................................................................................ 5 -43

5.4 I/O setting parameters (No.PD ) ...................................................................................................... 5 -44 5.4.1 Parameter list ................................................................................................................................... 5 -44 5.4.2 List of details ..................................................................................................................................... 5 -45 5.4.3 Using forward/reverse rotation stroke end to change the stopping pattern ................................... 5 -53

6. DISPLAY AND OPERATION SECTIONS 6 - 1 to 6 -22

6.1 Overview ................................................................................................................................................... 6 - 1 6.2 Display sequence ..................................................................................................................................... 6 - 2 6.3 Status display ........................................................................................................................................... 6 - 3

6.3.1 Display transition ............................................................................................................................... 6 - 3 6.3.2 Display examples .............................................................................................................................. 6 - 4 6.3.3 Status display list ............................................................................................................................... 6 - 5 6.3.4 Changing the status display screen .................................................................................................. 6 - 6

6.4 Diagnostic mode ...................................................................................................................................... 6 - 7 6.5 Alarm mode .............................................................................................................................................. 6 - 8 6.6 Parameter mode ..................................................................................................................................... 6 -10

6.6.1 Parameter mode transition ............................................................................................................... 6 -10 6.6.2 Operation example ........................................................................................................................... 6 -11

6.7 External I/O signal display ...................................................................................................................... 6 -13 6.8 Output signal (DO) forced output ............................................................................................................ 6 -16 6.9 Test operation mode ............................................................................................................................... 6 -17

6.9.1 Mode change .................................................................................................................................... 6 -17 6.9.2 JOG operation .................................................................................................................................. 6 -18 6.9.3 Positioning operation ........................................................................................................................ 6 -19 6.9.4 Motor-less operation ........................................................................................................................ 6 -21

7. GENERAL GAIN ADJUSTMENT 7 - 1 to 7 -12

7.1 Different adjustment methods .................................................................................................................. 7 - 1 7.1.1 Adjustment on a single servo amplifier ............................................................................................. 7 - 1 7.1.2 Adjustment using MR Configurator ................................................................................................... 7 - 2

7.2 Auto tuning ............................................................................................................................................... 7 - 3 7.2.1 Auto tuning mode .............................................................................................................................. 7 - 3

4

7.2.2 Auto tuning mode basis .................................................................................................................... 7 - 4 7.2.3 Adjustment procedure by auto tuning ............................................................................................... 7 - 5 7.2.4 Response level setting in auto tuning mode .................................................................................... 7 - 6

7.3 Manual mode 1 (simple manual adjustment) .......................................................................................... 7 - 7 7.4 Interpolation mode .................................................................................................................................. 7 -10 7.5 Differences between MELSERVO-J2-Super and MELSERVO-J3 in auto tuning ................................ 7 -11

8. SPECIAL ADJUSTMENT FUNCTIONS 8 - 1 to 8 -18

8.1 Function block diagram ............................................................................................................................ 8 - 1 8.2 Adaptive filter ........................................................................................................................................ 8 - 1 8.3 Machine resonance suppression filter ..................................................................................................... 8 - 4 8.4 Advanced vibration suppression control ................................................................................................. 8 - 6 8.5 Low-pass filter ......................................................................................................................................... 8 -10 8.6 Gain changing function ........................................................................................................................... 8 -10

8.6.1 Applications ...................................................................................................................................... 8 -10 8.6.2 Function block diagram .................................................................................................................... 8 -11 8.6.3 Parameters ....................................................................................................................................... 8 -12 8.6.4 Gain changing procedure ................................................................................................................. 8 -14

8.7 Vibration suppression control filter 2 ...................................................................................................... 8 -16

9. TROUBLESHOOTING 9 - 1 to 9 -26

9.1 Alarms and warning list ............................................................................................................................ 9 - 1 9.2 Remedies for alarms ................................................................................................................................ 9 - 2 9.3 Remedies for warnings ........................................................................................................................... 9 -15 9.4 Troubles without an alarm/warning ........................................................................................................ 9 -17

10. OUTLINE DRAWINGS 10- 1 to 10-12

10.1 Servo amplifier ...................................................................................................................................... 10- 1 10.2 Connector ............................................................................................................................................. 10-10

11. CHARACTERISTICS 11- 1 to 11 -12

11.1 Overload protection characteristics ...................................................................................................... 11- 1 11.2 Power supply equipment capacity and generated loss ....................................................................... 11- 3 11.3 Dynamic brake characteristics .............................................................................................................. 11- 6

11.3.1 Dynamic brake operation ............................................................................................................... 11- 6 11.3.2 The dynamic brake at the load inertia moment ............................................................................ 11-10

11.4 Cable flexing life ................................................................................................................................... 11-11 11.5 Inrush currents at power-on of main circuit and control circuit ........................................................... 11-11

12. OPTIONS AND AUXILIARY EQUIPMENT 12- 1 to 12 -100

12.1 Cable/connector sets ............................................................................................................................ 12- 1 12.1.1 Combinations of cable/connector sets .......................................................................................... 12- 2 12.1.2 Encoder cable/connector sets ...................................................................................................... 12-10 12.1.3 Motor power supply cables ........................................................................................................... 12-25 12.1.4 Motor brake cables ........................................................................................................................ 12-26

5

12.2 Regenerative options ........................................................................................................................... 12-27 12.3 FR-BU2-(H) brake unit ......................................................................................................................... 12-40

12.3.1 Selection ........................................................................................................................................ 12-41 12.3.2 Brake unit parameter setting ......................................................................................................... 12-41 12.3.3 Connection example ..................................................................................................................... 12-42 12.3.4 Outline dimension drawings .......................................................................................................... 12-49

12.4 Power regenerative converter ............................................................................................................. 12-51 12.5 Power regenerative common converter .............................................................................................. 12-54 12.6 External dynamic brake ....................................................................................................................... 12-62 12.7 Junction terminal block MR-TB50 ....................................................................................................... 12-67 12.8 MR Configurator ................................................................................................................................... 12-69 12.9 Battery unit MR-J3BAT ........................................................................................................................ 12-73 12.10 Heat sink outside mounting attachment (MR-J3ACN)...................................................................... 12-74 12.11 Selection example of wires ................................................................................................................ 12-76 12.12 No-fuse breakers, fuses, magnetic contactors ................................................................................. 12-81 12.13 Power factor improving DC reactor ................................................................................................... 12-82 12.14 Power factor improving reactors ........................................................................................................ 12-84 12.15 Relays (recommended) ..................................................................................................................... 12-85 12.16 Surge absorbers (recommended) ..................................................................................................... 12-86 12.17 Noise reduction techniques ............................................................................................................... 12-86 12.18 Leakage current breaker .................................................................................................................... 12-94 12.19 EMC filter (recommended) ............................................................................................................... 12-96

13. COMMUNICATION FUNCTION 13- 1 to 13-34

13.1 Configuration ......................................................................................................................................... 13- 1 13.2 Communication specifications .............................................................................................................. 13- 3

13.2.1 Communication overview ............................................................................................................... 13- 3 13.2.2 Parameter setting ........................................................................................................................... 13- 4

13.3 Protocol ................................................................................................................................................. 13- 5 13.3.1 Transmission data configuration .................................................................................................... 13- 5 13.3.2 Character codes ............................................................................................................................. 13- 6 13.3.3 Error codes ..................................................................................................................................... 13- 7 13.3.4 Checksum ....................................................................................................................................... 13- 7 13.3.5 Time-out ......................................................................................................................................... 13- 8 13.3.6 Retry ............................................................................................................................................... 13- 8 13.3.7 Initialization ..................................................................................................................................... 13- 9 13.3.8 Communication procedure example.............................................................................................. 13- 9

13.4 Command and data No. list ................................................................................................................. 13-10 13.4.1 Read commands ........................................................................................................................... 13-10 13.4.2 Write commands ........................................................................................................................... 13-14

13.5 Detailed explanations of commands ................................................................................................... 13-16 13.5.1 Data processing ............................................................................................................................ 13-16 13.5.2 Status display ................................................................................................................................ 13-18 13.5.3 Parameters .................................................................................................................................... 13-19 13.5.4 External I/O signal statuses (DIO diagnosis) ............................................................................... 13-22 13.5.5 Input device ON/OFF .................................................................................................................... 13-25 13.5.6 Disable/enable of I/O devices (DIO) ............................................................................................. 13-25 13.5.7 Input devices ON/OFF (test operation) ........................................................................................ 13-26

6

13.5.8 Test operation mode ..................................................................................................................... 13-27 13.5.9 Output signal pin ON/OFF output signal (DO) forced output ....................................................... 13-30 13.5.10 Alarm history ............................................................................................................................... 13-31 13.5.11 Current alarm .............................................................................................................................. 13-32 13.5.12 Other commands ......................................................................................................................... 13-33

14. ABSOLUTE POSITION DETECTION SYSTEM 14- 1 to 14-66

14.1 Outline ................................................................................................................................................... 14- 1 14.1.1 Features ......................................................................................................................................... 14- 1 14.1.2 Restrictions ..................................................................................................................................... 14- 2

14.2 Specifications ........................................................................................................................................ 14- 3 14.3 Battery replacement procedure ............................................................................................................ 14- 4

14.3.1 When replacing battery with the control circuit power ON ............................................................ 14- 4 14.3.2 When replacing battery with the control circuit power OFF .......................................................... 14- 4

14.4 Battery installation procedure ............................................................................................................... 14- 5 14.5 Procedure to replace battery with the control circuit power OFF ........................................................ 14- 5

14.5.1 Preparation for battery replacement .............................................................................................. 14- 5 14.5.2 Replacement procedure ................................................................................................................ 14- 6

14.6 Standard connection diagram ............................................................................................................... 14- 7 14.7 Signal explanation ................................................................................................................................. 14- 8 14.8 Startup procedure ................................................................................................................................. 14- 9 14.9 Absolute position data transfer protocol .............................................................................................. 14-10

14.9.1 Data transfer procedure ................................................................................................................ 14-10 14.9.2 Transfer method ............................................................................................................................ 14-11 14.9.3 Home position setting.................................................................................................................... 14-22 14.9.4 Use of servo motor with an electromagnetic brake ...................................................................... 14-24 14.9.5 How to process the absolute position data at detection of stroke end ........................................ 14-25

14.10 Examples of use ................................................................................................................................ 14-26 14.10.1 MELSEC FX(2N)-32MT (FX(2N)-1PG) ......................................................................................... 14-26 14.10.2 MELSEC A1SD75 ....................................................................................................................... 14-38 14.10.3 MELSEC QD75 ........................................................................................................................... 14-51

14.11 Absolute position data transfer errors ............................................................................................... 14-59 14.11.1 Corrective actions ....................................................................................................................... 14-59 14.11.2 Error resetting conditions ............................................................................................................ 14-61

14.12 Communication-based ABS transfer system .................................................................................... 14-62 14.12.1 Serial communication command ................................................................................................ 14-62 14.12.2 Absolute position data transfer protocol ..................................................................................... 14-62

14.13 Confirmation of absolute position detection data .............................................................................. 14-66

15. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 15- 1 to 15-102

15.1. Functions and menus .......................................................................................................................... 15- 1 15.1.1 Function block diagram .................................................................................................................. 15- 2 15.1.2 Packing list ..................................................................................................................................... 15- 4 15.1.3 Standard specifications .................................................................................................................. 15- 5 15.1.4 Model definition .............................................................................................................................. 15- 8 15.1.5 Combinations of converter units, drive unit and servo motors ..................................................... 15- 9 15.1.6 Parts identification ......................................................................................................................... 15-10

7

15.1.7 Removal and reinstallation of the terminal block cover ............................................................... 15-13 15.1.8 Servo system with auxiliary equipment ........................................................................................ 15-19

15.2 Installation ............................................................................................................................................ 15-20 15.2.1 Installation direction and clearances ............................................................................................ 15-21 15.2.2 Inspection ...................................................................................................................................... 15-22

15.3 Signals and wiring ................................................................................................................................ 15-23 15.3.1 Magnetic contactor control connector (CNP1) ............................................................................. 15-24 15.3.2 Input power supply circuit ............................................................................................................. 15-26 15.3.3 Terminal ......................................................................................................................................... 15-31 15.3.4 How to use the connection bars ............................................................................................. 15-32 15.3.5 Connectors and signal arrangements .................................................................................... 15-33 15.3.6 Converter unit signal (device) explanations ........................................................................... 15-35 15.3.7 Timing chart ............................................................................................................................ 15-37 15.3.8 Servo motor side details ......................................................................................................... 15-45

15.4 Display section and operation section of the converter unit ............................................................... 15-47 15.4.1 Display flowchart ........................................................................................................................... 15-47 15.4.2 Status display mode ...................................................................................................................... 15-48 15.4.3 Diagnostic mode ........................................................................................................................... 15-49 15.4.4 Alarm mode ................................................................................................................................... 15-51 15.4.5 Parameter mode ........................................................................................................................... 15-52

15.5. Parameters for converter unit ............................................................................................................. 15-53 15.5.1 Parameter list ................................................................................................................................ 15-53 15.5.2 List of details .................................................................................................................................. 15-54

15.6 Troubleshooting ................................................................................................................................... 15-55 15.6.1 Converter unit ................................................................................................................................ 15-55 15.6.2 Drive unit........................................................................................................................................ 15-60

15.7 Outline drawings .................................................................................................................................. 15-62 15.7.1 Converter unit (MR-J3-CR55K(4)) ................................................................................................ 15-62 15.7.2 Drive unit........................................................................................................................................ 15-63

15.8 Characteristics...................................................................................................................................... 15-65 15.8.1 Overload protection characteristics .............................................................................................. 15-65 15.8.2 Power supply equipment capacity and generated loss ............................................................... 15-66 15.8.3 Dynamic brake characteristics ...................................................................................................... 15-67 15.8.4 Inrush currents at power-on of main circuit and control circuit .................................................... 15-70

15.9 Options ................................................................................................................................................. 15-70 15.9.1 Cables and connectors ................................................................................................................. 15-70 15.9.2 Regenerative option ...................................................................................................................... 15-74 15.9.3 External dynamic brake ................................................................................................................ 15-78 15.9.4 Selection example of wires ........................................................................................................... 15-81 15.9.5 No-fuse breakers, fuses, magnetic contactors ............................................................................. 15-83 15.9.6 Power factor improving DC reactor .............................................................................................. 15-84 15.9.7 Line noise filter (FR-BLF) .............................................................................................................. 15-85 15.9.8 Leakage current breaker ............................................................................................................... 15-86 15.9.9 EMC filter (recommended) ............................................................................................................ 15-88 15.9.10 FR-BU2-(H) brake unit ................................................................................................................ 15-90

16. PARAMETER UNIT (MR-PRU03) 16- 1 to 16-20

16.1 External appearance and key explanations ......................................................................................... 16- 2

8

16.2 Specifications ........................................................................................................................................ 16- 3 16.3 Outline dimension drawings ................................................................................................................. 16- 3 16.4 Connection with servo amplifier............................................................................................................ 16- 4

16.4.1 Single axis ...................................................................................................................................... 16- 4 16.4.2 Multidrop connection ...................................................................................................................... 16- 5

16.5 Display ................................................................................................................................................... 16- 7 16.5.1 Outline of screen transition ............................................................................................................ 16- 7 16.5.2 MR-PRU03 parameter unit setting ................................................................................................ 16- 8 16.5.3 Monitor mode (status display) ........................................................................................................ 16- 9 16.5.4 Alarm/diagnostic mode ................................................................................................................. 16-12 16.5.5 Parameter mode ........................................................................................................................... 16-14 16.5.6 Test operation mode ..................................................................................................................... 16-15

16.6 Error message list ................................................................................................................................ 16-19

APPENDIX App.- 1 to App.-23

App. 1 Parameter list ..................................................................................................................................App.- 1 App. 2 Signal layout recording paper ........................................................................................................App.- 3 App. 3 Status display block diagram .........................................................................................................App.- 4 App. 4 Change of connector sets to the RoHS compatible products .......................................................App.- 5 App. 5 MR-J3-200A-RT servo amplifier ....................................................................................................App.- 6 App. 6 Selection example of servo motor power cable .......................................................................... App.-10 App. 7 Handling of AC servo amplifier batteries for the United Nations

Recommendations on the Transport of Dangerous Goods ........................................................ App.-11 App. 8 Symbol for the new EU Battery Directive .................................................................................... App.-12 App. 9 Compliance with the European EC directives ............................................................................. App.-13 App. 10 Conformance with UL/C-UL standard ........................................................................................ App.-16

1 - 1

1. FUNCTIONS AND CONFIGURATION


1.1 Summary

The Mitsubishi MELSERVO-J3 series general-purpose AC servo is based on the MELSERVO-J2-Super series and has further higher performance and higher functions. It has position control, speed control and torque control modes. Further, it can perform operation with the control modes changed, e.g. position/speed control, speed/torque control and torque/position control. Hence, it is applicable to a wide range of fields, not only precision positioning and smooth speed control of machine tools and general industrial machines but also line control and tension control. As this new series has the USB or RS-422 serial communication function, a MR Configurator installed personal computer or the like can be used to perform parameter setting, test operation, status display monitoring, gain adjustment, etc. With real-time auto tuning, you can automatically adjust the servo gains according to the machine. The MELSERVO-J3 series servo motor with an absolute position encoder which has the resolution of 262144 pulses/rev to ensure more accurate control as compared to the MELSERVO-J2-Super series. Simply adding a battery to the servo amplifier makes up an absolute position detection system. This makes home position return unnecessary at power-on or alarm occurrence by setting a home position once. (1) Position control mode

An up to 1Mpps high-speed pulse train is used to control the speed and direction of a motor and execute precision positioning of 262144 pulses/rev resolution. The position smoothing function provides a choice of two different modes appropriate for a machine, so a smoother start/stop can be made in response to a sudden position command. A torque limit is imposed on the servo amplifier by the clamp circuit to protect the power transistor in the main circuit from overcurrent due to sudden acceleration/deceleration or overload. This torque limit value can be changed to any value with an external analog input or the parameter.

(2) Speed control mode

An external analog speed command (0 to 10VDC) or parameter-driven internal speed command (max. 7 speeds) is used to control the speed and direction of a servo motor smoothly. There are also the acceleration/deceleration time constant setting in response to speed command, the servo lock function at a stop time, and automatic offset adjustment function in response to external analog speed command.

(3) Torque control mode

An external analog torque command (0 to 8VDC) is used to control the torque output by the servo motor. To prevent unexpected operation under no load, the speed limit function (external or internal setting) is also available for application to tension control, etc.

1 - 2


1.2 Function block diagram

The function block diagram of this servo is shown below. (1) MR-J3-350A or less MR-J3-200A4 or less

C D

L11

CN5 CN3 CN6I/F

USB RS-422 D/AA/D

USB RS-422

CN

4

MR-J3BAT

CN1

P1 P2 P( ) N( )

B

NFB

(Note 2)Powersupply

MC

RA

24VDC

B1

B2

L1

L2

L3

L21

Servo amplifier

U

V

W

U

V

W

Diodestack

Regenerative option

Power factor improving DC reactor

CHARGElamp

Regene- rative TR

(Note 1)

Currentdetector M

Servo motor

Dynamicbrake circuit

Electro-magneticbrake

Encoder

Base amplifier

Voltagedetection

Overcurrentprotection

Currentdetection

Controlcircuitpowersupply

(Note 3) Cooling fan

Relay

Pulse input Model positioncontrol

Model speedcontrol

Virtualencoder

Virtualmotor

Model position

Model speed

Model torque

Actual positioncontrol

Actual speedcontrol

Currentcontrol

Optional battery(for absolute position detection system)

Analog monitor(2 channels)

Personal computer

D I/O controlServo onCommand pulse train inputStartFailure, etc.

Analog(2 channels) Controller

CN

2

Note 1. The built-in regenerative resistor is not provided for the MR-J3-10A(1). 2. For 1-phase 200 to 230VAC, connect the power supply to L1, L2 and leave L3 open.

There is no L3 for 1-phase 100 to 120VAC power supply. For the specification of power supply, refer to section 1.3. 3. Servo amplifiers MR-J3-70A or greater have a cooling fan.

1 - 3


(2) MR-J3-350A4 MR-J3-500A(4) MR-J3-700A(4)

CN

2

C

L11

CN5 CN3 CN6I/F

USB RS-422 D/AA/D

USB RS-422

CN

4

MR-J3BAT

CN1

P1 P2 P N

B

NFB

(Note)Powersupply

MC

RA

24VDC

B1

B2

L1

L2

L3

L21

Servo amplifier

U

V

W

U

V

W

Diodestack

Regenerative option


CHARGElamp

Regene- rative TR

Currentdetector M

Servo motor

Dynamicbrake circuit


Encoder

Base amplifier

Voltagedetection


Currentdetection


Cooling fan

Relay


Model speedcontrol

Virtualencoder

Virtualmotor

Model position

Model speed

Model torque


Actual speedcontrol

Currentcontrol



Personal computer



Note. For the specification of power supply, refer to section 1.3.

1 - 4


(3) MR-J3-11KA(4) to 22KA(4)

C

L11

CN5 CN3 CN6I/F

USB RS-422 D/AA/D

USB RS-422

CN

4

MR-J3BAT

CN1

P1 P N

B

NFB

(Note 1)Powersupply

MC

RA

24VDC

B1

B2

L1

L2

L3

L21

Servo amplifier

U

V

W

U

V

W

Diodestack

Regenerative option


CHARGElamp

Regene- rative TR

Currentdetector M

Servo motor


Encoder

Base amplifier

Voltagedetection


Currentdetection


Cooling fan

Thyristor


Model speedcontrol

Virtualencoder

Virtualmotor

Model position

Model speed

Model torque


Actual speedcontrol

Currentcontrol



Personal computer



CN

2

External dynamic brake

(option)

(Note 2)

Note 1. For the specification of power supply, refer to section 1.3. 2. Use an external dynamic brake for this servo amplifier. Failure to do so will cause an accident because the servo motor does

not stop immediately but coasts at an emergency stop and such conditions. Ensure the safety in the entire system.

1 - 5


1.3 Servo amplifier standard specifications

(1) 200V class, 100V class Servo amplifier

MR-J3- Item

10A 20A 40A 60A 70A 100A 200A 350A 500A 700A 11KA 15KA 22KA 10A1 20A1 40A1

Out

put Rated voltage 3-phase 170VAC

Rated current [A] 1.1 1.5 2.8 3.2 5.8 6.0 11.0 17.0 28.0 37.0 68.0 87.0 126.0 1.1 1.5 2.8

Mai

n ci

rcui

t pow

er s

uppl

y

Voltage, frequency 3-phase or 1-phase 200 to 230VAC, 50/60Hz 3-phase 200 to 230VAC, 50/60Hz 1-phase 100 to

120VAC, 50/60Hz

Rated current [A] 0.9 1.5 2.6 (Note 3)3.2 3.8 5.0 10.5 16.0 21.7 28.9 46.0 64.0 95.0 3.0 5.0 9.0

Permissible voltage fluctuation 3-phase or 1-phase 170 to 253VAC 3-phase 170 to 253VAC 1-phase 85 to

132VAC Permissible frequency fluctuation Within 5 Power supply capacity Refer to section 11.2 Inrush current Refer to section 11.5

Control circuit power supply

Voltage, frequency 1-phase 200 to 230VAC, 50/60Hz 1-phase 100 to

120VAC, 50/60Hz

Rated current [A] 0.2 0.3 0.4 Permissible voltage fluctuation 1-phase 170 to 253VAC

1-phase 85 to 132VAC

Permissible frequency fluctuation Within 5

Power consumption [W] 30 45 30

Inrush current Refer to section 11.5 Interface power supply

Voltage 24VDC 10 Power supply capacity (Note 1) 0.3A

Control System Sine-wave PWM control, current control system

Dynamic brake Built-in External option (Note 4) Built-in

Protective functions

Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal relay), servo motor overheat protection, encoder error protection, regenerative error protection, undervoltage, instantaneous power failure protection, overspeed protection, excessive error protection

Posi

tion

cont

rol m

ode Max. input pulse frequency 1Mpps (for differential receiver), 200kpps (for open collector)

Command pulse multiplying factor Electronic gear A:1 to 1048576, B:1 to 1048576, 1/10 A/B 2000 In-position range setting 0 to 10000 pulse (command pulse unit) Error excessive 3 revolutions Torque limit Set by parameter setting or external analog input (0 to 10VDC/maximum torque)

Spee

d co

ntro

l m

ode

Speed control range Analog speed command 1: 2000, internal speed command 1: 5000 Analog speed command input 0 to 10VDC / Rated speed

Speed fluctuation ratio

0.01 or less (load fluctuation 0 to 100 ) 0 (power fluctuation 10 )

0.2 or less (ambient temperature 25 10 (59 to 95 )) when using analog speed command

Torque limit Set by parameter setting or external analog input (0 to 10VDC/maximum torque) Torque control mode

Analog torque command input 0 to 8VDC / Maximum torque (input impedance 10 to 12k )

Speed limit Set by parameter setting or external analog input (0 to 10VDC/Rated speed)

Compliance to standards CE (LVD: IEC/EN 50178, EMC: IEC/EN 61800-3) UL (UL 508C)

Structure Natural-cooling, open (IP rating: IP00) Force-cooling, open (IP rating: IP00) Natural-cooling,

open (IP rating: IP00)

Envi

ronm

enta

l con

ditio

ns

Ambient temperature

In operation [ ] (Note 2) 0 to 55 (non-freezing) [ ] (Note 2) 32 to 131 (non-freezing)

In storage [ ] 20 to 65 (non-freezing) [ ] 4 to 149 (non-freezing) Ambient humidity

In operation 90 RH or less (non-condensing) In storage

Ambient Indoors (no direct sunlight), Free from corrosive gas, flammable gas, oil mist, dust and dirt Altitude Max. 1000m above sea level Vibration 5.9m/s2 or less at 10 to 55Hz (directions of X, Y and Z axes)

Mass [kg] 0.8 0.8 1.0 1.0 1.4 1.4 2.1 2.3 4.6 6.2 18 18 19 0.8 0.8 1.0 [lb] 1.76 1.76 2.21 2.21 3.09 3.09 4.63 5.07 10.1 13.7 39.7 39.7 41.9 1.76 1.76 2.21

1 - 6


Note 1. 0.3A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of

I/O points. 2. When closely mounting the servo amplifier of 3.5kW or less, operate them at the ambient temperatures of 0 to 45 or at 75%

or smaller effective load ratio. 3. When a UL/C-UL-compliant servo motor is used in combination, the value is 2.9A. 4. Use an external dynamic brake for this servo amplifier. Failure to do so will cause an accident because the servo motor does

not stop immediately but coasts at an emergency stop and such conditions. Ensure the safety in the entire system. (2) 400V class

Servo amplifier MR-J3-

Item 60A4 100A4 200A4 350A4 500A4 700A4 11KA4 15KA4 22KA4

Out

put Rated voltage 3-phase 323VAC

Rated current [A] 1.5 2.8 5.4 8.6 14.0 17.0 32.0 41.0 63.0

Mai

n ci

rcui

t pow

er

supp

ly

Voltage, frequency 3-phase 380 to 480VAC, 50/60Hz Rated current [A] 1.4 2.5 5.1 7.9 10.8 14.4 23.1 31.8 47.6 Permissible voltage fluctuation 3-phase 323 to 528VAC Permissible frequency fluctuation Within 5% Power supply capacity Refer to section 11.2 Inrush current Refer to section 11.5

Control circuit power supply

Voltage, frequency 1-phase 380 to 480VAC, 50/60Hz Rated current [A] 0.1 0.2 Permissible voltage fluctuation 1-phase 323 to 528VAC

Permissible frequency fluctuation Within 5%

Power consumption [W] 30 45

Inrush current Refer to section 11.5 Interface power supply

Voltage 24VDC 10% Power supply capacity (Note 1) 0.3A

Control System Sine-wave PWM control, current control system Dynamic brake Built-in External option (Note 2)

Protective functions Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal relay), servo motor overheat protection, encoder error protection, regenerative error protection, undervoltage, instantaneous power failure protection, overspeed protection, excessive error protection

Posi

tion

cont

rol

mod

e

Max. input pulse frequency 1Mpps (for differential receiver), 200kpps (for open collector) Command pulse multiplying factor Electronic gear A:1 to 1048576, B:1 to 1048576, 1/10 A/B 2000 In-position range setting 0 to 10000 pulse (command pulse unit) Error excessive 3 revolutions Torque limit Set by parameter setting or external analog input (0 to 10VDC/maximum torque)

Spee

d co

ntro

l m

ode

Speed control range Analog speed command 1: 2000, internal speed command 1: 5000 Analog speed command input 0 to 10VDC / Rated speed

Speed fluctuation ratio 0.01 or less (load fluctuation 0 to 100 )

0 (power fluctuation 10 ) 0.2 or less (ambient temperature 25 10 (59 to 95 ))

when using analog speed command Torque limit Set by parameter setting or external analog input (0 to 10VDC/maximum torque)

Torque control mode

Analog torque command input 0 to 8VDC / Maximum torque (input impedance 10 to 12k ) Speed limit Set by parameter setting or external analog input (0 to 10VDC/Rated speed)

Compliance to standards CE (LVD: IEC/EN 50178, EMC: IEC/EN 61800-3) UL (UL 508C)

Structure Natural-cooling,

open (IP rating: IP00)

Force-cooling, open (IP rating: IP00)

Envi

ronm

enta

l con

ditio

ns

Ambient temperature

In operation [ ] 0 to 55 (non-freezing) [ ] 32 to 131 (non-freezing)

In storage [ ] 20 to 65 (non-freezing) [ ] 4 to 149 (non-freezing) Ambient humidity

In operation 90 RH or less (non-condensing) In storage

Ambient Indoors (no direct sunlight), Free from corrosive gas, flammable gas, oil mist, dust and dirt Altitude Max. 1000m above sea level Vibration 5.9m/s2 or less at 10 to 55Hz (directions of X, Y and Z axes)

Mass [kg] 1.7 1.7 2.1 4.6 4.6 6.2 18 18 19 [lb] 3.75 3.75 4.63 10.1 10.1 13.7 39.7 39.7 41.9 Note 1. 0.3A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of

I/O points. 2. Use an external dynamic brake for this servo amplifier. Failure to do so will cause an accident because the servo motor does

not stop immediately but coasts at an emergency stop and such conditions. Ensure the safety in the entire system.

1 - 7


1.4 Function list

The following table lists the functions of this servo. For details of the functions, refer to the reference field.

Function Description (Note)

Control mode Reference

Position control mode This servo is used as position control servo. P Section 3.2.1 Section 3.6.1 Section 4.2

Speed control mode This servo is used as speed control servo. S Section 3.2.2 Section 3.6.2 Section 4.3

Torque control mode This servo is used as torque control servo. T Section 3.2.3 Section 3.6.3 Section 4.4

Position/speed control change mode

Using input device, control can be switched between position control and speed control.

P/S Section 3.6.4

Speed/torque control change mode

Using input device, control can be switched between speed control and torque control.

S/T Section 3.6.5

Torque/position control change mode

Using input device, control can be switched between torque control and position control.

T/P Section 3.6.6

High-resolution encoder High-resolution encoder of 262144 pulses/rev is used as a servo motor encoder.

P, S, T

Absolute position detection system

Merely setting a home position once makes home position return unnecessary at every power-on.

P Chapter 14

Gain changing function You can switch between gains during rotation and gains during stop or use an input device to change gains during operation.

P, S Section 8.6

Advanced vibration suppression control

This function suppresses vibration at the arm end or residual vibration.

P Section 8.4

Adaptive filter Servo amplifier detects mechanical resonance and sets filter characteristics automatically to suppress mechanical vibration.

P, S, T Section 8.2

Low-pass filter Suppresses high-frequency resonance which occurs as servo system response is increased.

P, S, T Section 8.5

Machine analyzer function

Analyzes the frequency characteristic of the mechanical system by simply connecting a personal computer installed MR Configurator with a servo amplifier. MR Configurator is necessary for this function.

P

Machine simulation Can simulate machine motions on a personal computer screen on the basis of the machine analyzer results. MR Configurator is necessary for this function.

P

Gain search function Personal computer changes gains automatically and searches for overshoot-free gains in a short time. MR Configurator is necessary for this function.

P

Robust disturbance compensation

This function provides better disturbance response in case of low response level due to high load inertia moment ratio for the roll send axes. MR Configurator is necessary for this function.

P, S, T

Advanced Gain search

Advanced Gain search automatically searches for the optimum parameter for settle time to be short. The gain can be adjusted by setting sequentially in accordance with wizard screens. MR Configurator is necessary for this function.

P

Slight vibration suppression control

Suppresses vibration of 1 pulse produced at a servo motor stop.

P Parameters No.PB24

Electronic gear Input pulses can be multiplied by 1/50 to 50. P Parameters No.PA06, PA07

Auto tuning Automatically adjusts the gain to optimum value if load applied to the servo motor shaft varies. Higher in performance than MR-J2-Super series servo amplifier.

P, S Chapter 7

1 - 8


Function Description (Note)

Control mode Reference

Position smoothing Speed can be increased smoothly in response to input pulse. P Parameter No.PB03S-pattern acceleration/ deceleration time constant

Speed can be increased and decreased smoothly. S, T Parameter No.PC03

Regenerative option Used when the built-in regenerative resistor of the servo amplifier does not have sufficient regenerative capability for the regenerative power generated.

P, S, T Section 12.2

Brake unit Used when the regenerative option cannot provide enough regenerative power. Can be used with the MR-J3-500A MR-J3-700A.


Return converter Used when the regenerative option cannot provide enough regenerative power. Can be used with the MR-J3-500A MR-J3-700A.


Alarm history clear Alarm history is cleared. P, S, T Parameter No.PC18

Restart after instantaneous power failure

If the input power supply voltage had reduced to cause an alarm but has returned to normal, the servo motor can be restarted by merely switching on the start signal.

S Parameter No.PC22

Command pulse selection Command pulse train form can be selected from among three different types.

P Section 5.1.12

Input signal selection (Device settings)

Forward rotation start, reverse rotation start, servo-on (SON) and other input device can be assigned to certain pins of the CN1 connectors.

P, S, T Parameters No.PD03 to PD08, PD10 to PD12

Output signal selection (Device settings)

Trouble (ALM), dynamic brake interlock (MBR) and other output device can be assigned to certain pins of the CN1 connectors.

P, S, T Parameters No.PD13 to PD16, PD18

Torque limit Servo motor torque can be limited to any value. P, S Section 3.6.1 (5) Section 5.1.11

Speed limit Servo motor speed can be limited to any value. T Section 3.6.3 (3) Parameter No.PC05 to PC11

Status display Servo status is shown on the 5-digit, 7-segment LED display P, S, T Section 6.3

External I/O signal display ON/OFF statuses of external I/O signals are shown on the display.

P, S, T Section 6.7

Output signal (DO) forced output

Output signal can be forced on/off independently of the servo status. Use this function for output signal wiring check, etc.

P, S, T Section 6.8

Automatic VC offset Voltage is automatically offset to stop the servo motor if it does not come to a stop at the analog speed command (VC) or analog speed limit (VLA) of 0V.

S, T Section 6.4

Test operation mode

JOG operation, positioning operation, motor-less operation, DO forced output and program operation. However, MR Configurator is necessary for positioning operation and program operation.

P, S, T Section 6.9

Analog monitor output Servo status is output in terms of voltage in real time. P, S, T Parameter No.PC14

MR Configurator Using a personal computer, parameter setting, test operation, status display, etc. can be performed.


Alarm code output If an alarm has occurred, the corresponding alarm number is output in 3-bit code.

P, S, T Section 9.1

Amplifier diagnosis function

The DI/DO signals, analog monitor input I/F, analog monitor output, command pulse I/F and encoder pulse output are checked. The diagnosis cable (MR-J3ACHECK) and MR Configu

mr-j3-_a servo amplifier instruction manual

Documents